Package boofcv.alg.geo.bundle

Class BundleAdjustmentProjectiveResidualFunction

java.lang.Object

boofcv.alg.geo.bundle.BundleAdjustmentProjectiveResidualFunction

All Implemented Interfaces:

BundleAdjustmentSchur.FunctionResiduals<SceneStructureProjective>, FunctionInOut, FunctionNtoM

public class BundleAdjustmentProjectiveResidualFunction
extends Object
implements BundleAdjustmentSchur.FunctionResiduals<SceneStructureProjective>

Computes observations errors/residuals for projective bundle adjustment as implemented using UnconstrainedLeastSquares. Parameterization is done using the format in CodecSceneStructureProjective.

cost(P) = (1/(m*n))*∑_i ∑_j ||x_j - (1/z)*P_i*X_j||²

See Also:

• SceneStructureProjective
• SceneObservations

Constructor Summary

Constructors

Constructor	Description
BundleAdjustmentProjectiveResidualFunction()

Method Summary

Modifier and Type	Method	Description
void	configure(SceneStructureProjective structure, SceneObservations observations)	Specifies the scenes structure and observed feature locations
int	getNumOfInputsN()
int	getNumOfOutputsM()
void	process(double[] input, double[] output)

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Details

BundleAdjustmentProjectiveResidualFunction

public BundleAdjustmentProjectiveResidualFunction()

Method Details

configure

public void configure(SceneStructureProjective structure,
 SceneObservations observations)

Specifies the scenes structure and observed feature locations

Specified by:

configure in interface BundleAdjustmentSchur.FunctionResiduals<SceneStructureProjective>

getNumOfInputsN

public int getNumOfInputsN()

Specified by:

getNumOfInputsN in interface FunctionInOut

getNumOfOutputsM

public int getNumOfOutputsM()

Specified by:

getNumOfOutputsM in interface FunctionInOut

process

public void process(double[] input,
 double[] output)

Specified by:

process in interface FunctionNtoM